The Queen joined a starry reception for New York's literary crowd on Wednesday, touring an exhibit of Anglo-American items with the actress Sarah Jessica Parker.

Camilla was also reunited with Dame Anna Wintour, Global Editorial Director of Vogue, who removed her trademark sunglasses to greet the royal visitor with kisses.

The Queen, in a navy blue crepe silk dress and coat by Fiona Clare, with a Britannia red, white and blue brooch that belonged to the late Queen, was at the New York Public Library for the event hosted by her charity, the Queen's Reading Room.

Introducing her to the room, US TV host and author Jenna Bush Hager, whose Read With Jenna book club features on NBC's morning programme the Today Show, said of the Queen: 'Books are part of her DNA.'

In her own speech, Camilla described the venue as 'one of the world's greatest libraries, and somewhere I have always wanted to visit.'

Describing how her father inspired a love of reading in her as a child, she said: 'Indeed, the first Americans I knew and loved were the characters I met in my treasured children's novels: Little Women, What Katy Did, Charlotte's Web… I knew, even then, that books are the best friend you can have – in good times and bad.'

Around 100 guests from the literary, publishing and cultural worlds in the US and UK, including singer Katherine Jenkins and the authors Harlan Coben, Min Jin Lee and Tina Brown, mingled in the historic Stephen A. Schwarzman building on Fifth Avenue and 42nd Street.

The landmark has featured in dozens of movies and TV shows, dating back to 42nd Street in 1933 and taking in Breakfast at Tiffany's, Ghostbusters and Sex and the City.

In the latter, Sarah Jessica Parker's character Carrie Bradshaw was stood up at the library on her wedding day by Mr Big and rushed down the grand staircase of the library's Astor Hall to leave.

Camilla and Sarah Jessica echoed Carrie's route down the stairs after being reunited at the reception, having met in London earlier this year. The actress is a Booker Prize judge.

Speaking ahead of their meeting, she described the Queen's visit as 'great for all New Yorkers'.

She added: 'I think anytime we have an opportunity to talk about our libraries and talk about literacy, I know that the Queen has spent a great deal of time focusing on that in her country. 

'She mentioned that there was this opportunity for a sort of bridge project, and our libraries are, you know, they're challenged a lot with funding and support. So I'm thrilled that we get to be in this extraordinary building. Patience and fortitude and highlight this extraordinary repository for these documents, and that she's made it her business to carve out time to talk about this birthday, and what lies here, that illustrates our history.'

She said that the last time she met the Queen, 'we talked about books'.

'It was, for all of us, a thrill and especially because she seems to covet her time with books; she seems to love reading as much as a lot of us greedy readers, and she also, she just showed so much hospitality in her home to everyone who was there.

'She took so much time that day, with every single person, and to have her shine a spotlight on reading and the relationship between a reader and a book and how it changes lives and enriches lives and cultivates empathy and curiosity, I'm so grateful, and from Her Majesty, it means a great deal.'

Asked whether Camilla had watched Sex and the City, she replied, with a laugh: 'I don't know, nor would I enquire.'

After the reception, the two women joined Chief Librarian Brian Bannon to view items related to America's 250th anniversary of independence and a first edition of the AA Milne book, 'Now We Are Six'.

'Nice to see you again,' Camilla said to the actress.

They were shown a map of New York created in secret to outsmart the British. Looking at propaganda leaflets designed to inspire people in the US to revolution, the Queen said: 'Extraordinary'.

After making their way downstairs, the Queen and Sarah Jessica joined young schoolchildren in the permanent Treasures Collection, which houses teddy bears once owned by Winnie the Pooh author A.A. Milne's son Christopher.

The soft toys are believed to have inspired the beloved stories, which were first published a century ago in 1926.

Camilla had brought a new friend for the collection, too - Roo. The original Roo toy had been missing from the collection since the library acquired it, so the Queen gifted a replacement soft toy to complete it.

The custom-made toy was produced by British manufacturer Merrythought and travelled over to the United States with Camilla on the royal plane.

Broadcaster and author of a new book about A.A. Milne and Winnie the Pooh, Gyles Brandreth, was on hand to encourage the children to practise their bows and curtseys, and they piped up with a loud, 'Hello, Your Majesty!' when Camilla arrived.

The children, aged 6-10, were told by Brandreth that the original 'Roo was lost in an orchard, possibly eaten by Christopher Robin's dog.' After hearing gasps through the room, Brandreth added, 'Sorry to bring it up. Slightly unpleasant. There should have been a trigger warning, I do apologise.'

The Queen's equerry then presented the tiny kangaroo to her on a Union flag cushion, and she handed it over to the NYPL's President, Dr Anthony Marx.

Camilla then sat down in a chair to read a passage from a Winnie the Pooh book, after which she met Jim Cummings, 73, the actor who recorded the voices for both the honey-loving bear and his friend, Tigger, in the film version of the book.

At the end, the children gathered around the Queen for a photograph. One child told her, 'I saw you on the news, you were wearing a pink dress.'

Speaking afterwards, Cummings, who lives in California, was asked if he had met the Queen before.

'I have not. She's been avoiding me,' he joked. Cummings added: 'It was an honour. Unbelievable. Just fabulous.'

During her visit to the library, the Queen also met representatives of domestic violence charities and the New York City and State agencies for domestic violence prevention and social services, to hear more about their work providing emergency shelter, legal advocacy and ongoing support for survivors and their families.

She spent time chatting to each one and was told by one charity CEO: 'I just want to say, this has been a wonderful day and thank you for meeting us, it means so much.'

The New York Public Library was established in 1895 and houses more than 50 million items.